Miniature robust five-dimensional fingertip force/torque sensor with high performance

Qiaokang Liang, Dan Zhang, Yunjian Ge, Xiuxiang Huang, Zhongyang Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

8 Citations (Scopus)


This paper proposes an innovative design and investigation for a five-dimensional fingertip force/torque sensor with a dual annular diaphragm. This sensor can be applied to a robot hand to measure forces along the X-,Y-and Z-axes (Fx, Fy and Fz) and moments about the X-and Y-axes (Mx and My) simultaneously. Particularly, the details of the sensing principle, the structural design and the overload protection mechanism are presented. Afterward, based on the design of experiments approach provided by the software ANSYS®, a finite element analysis and an optimization design are performed. These are performed with the objective of achieving both high sensitivity and stiffness of the sensor. Furthermore, static and dynamic calibrations based on the neural network method are carried out. Finally, an application of the developed sensor on a dexterous robot hand is demonstrated. The results of calibration experiments and the application show that the developed sensor possesses high performance and robustness.

Original languageEnglish
Article number035205
JournalMeasurement Science and Technology
Issue number3
Publication statusPublished - Mar 2011
Externally publishedYes


  • Design of experiments
  • Fingertip sensor
  • Force/torque sensor
  • Neural network method
  • Overload protection
  • Robot hand

ASJC Scopus subject areas

  • Instrumentation
  • Engineering (miscellaneous)
  • Applied Mathematics


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